#ifndef __DATA_DEAL_H
#define __DATA_DEAL_H

#include "sbus.h"
#include "filter.h"
#include "spl06.h"
#include "bsp_timer.h"

#include "arm_math.h" 
#include "mode_config.h"

void Fusion(void);
void Baro_Fusion(void);


void RollPitch_InitCalibration(void);
void KalmanFilter(float dT);


void get_throttle(float *throttle);
uint8_t get_expms(float *expms);
uint8_t get_expms_exprotate(float *exp);
uint8_t get_expheight(float *expheight,uint8_t mode);

uint8_t get_start_flag(void);

#if 0 
void Matrix2x2Times(float (*A)[2],float (*B)[2],float (*C)[2]);
void Matrix2x2Plus(float (*A)[2],float (*B)[2],float (*C)[2]);
#endif
#endif


